Abstract: A cleaning device for cleaning a lens of a camera, using a cleaning head, comprises driver members that drive the camera or the cleaning head, which are able to generate a relative displacement of the cleaning head with respect to the camera between a passive position in which the cleaning head is positioned outside of the image-capturing field of the camera, and an active position in which the cleaning head extends facing the lens so as to allow cleaning liquid to be ejected towards the said lens. The device particularly comes into effect in the case of an application to the cleaning of a reversing camera installed in motor vehicles.

Abstract: A mobile robot and method for controlling the same are provided creating patches in images captured by a camera while the mobile robot is moving, estimating motion blur of the patches, and correcting the position of the mobile robot based on the patch from which the motion blur is eliminated, thereby increasing precision in tracking and reliability through accurate mapping. The mobile robot includes a main body, a traveler to move the main body, a camera combined with the main body to capture an image of a surrounding of the main body, a position detector to create a patch in the image captured by the camera, estimate a motion blur of the patch, and track a position of the main body based on the created patch from which the motion blur is eliminated, and a controller to control the traveler based on the position of the main body.

Abstract: The present invention relates to a dishwasher (1) comprising a tub (2) wherein the items to be washed are placed and a door (3) providing access to the tub (2), and wherein formation of unpleasant odor in the tub (2) is prevented by way of air within the tub being circulated through an ion generator.

Abstract: An ozone laundry system that injects ozone into the chemical injection system in order to allow the system to inject ozone as other cleaning chemicals are injected into the washer. This allows ozone to be injected through the wash cycle rather than just during the initial fill phase and additional avoids the expense and maintenance of adding ozone recirculation plumping to an ozone laundry system. Accordingly, ozone levels may be maintained at superior levels throughout the wash cycle.

Abstract: A hydraulically actuated diverter for selectively controlling a flow of wash fluid in a dishwashing appliance is provided. The hydraulically actuated diverter includes a top portion and a bottom portion that are coupled together to form a diverter chamber. A shaft of a diverter valve is slidably received within a channel defined by the bottom portion of the diverter. The shaft and the channel define an annular gap that allows the shaft to slide and rotate within the diverter chamber. The shaft defines an alignment member positioned within the annular gap to prevent the shaft from moving out of alignment with the channel, reducing the likelihood of excessive friction and binding of the diverter valve.

Abstract: Provided is a camera unit, a vehicle, and a method for manufacturing the camera unit. The first wall part of a housing for the camera unit extends parallel to an optical axis or in a slanted manner so as to gradually draw away from the optical axis in the direction from a lens toward a subject. A plurality of projections is disposed on the first wall part in alignment with the optical axis direction. The plurality of projections each have a first surface made up of a flat or curved surface in which the lens side is nearer to the optical axis than the subject side, and a second surface made up of a flat or curved surface in which the lens side is further away from the optical axis than the subject side, or made up of a flat surface parallel to the optical axis.

Abstract: In drying a substrate disposed inside a processing container after performing a liquid processing on the substrate, a low humidity gas for lowering a humidity inside the processing container is supplied during a time period when a processing liquid is supplied to the center portion of the substrate, and the processing liquid supplied to the center portion of the substrate is stopped after a humidity measurement value obtained by measuring the humidity inside the processing container becomes equal to or less than a preset humidity target value.

Abstract: An autonomous modular robot includes an attachment retention system that for retaining two or more interchangeable attachments for performing unique tasks, e.g., steam cleaning, vacuuming, grass cutting, etc. The attachments may be sequentially positioned in the path of travel of the robot and configured to perform complementary tasks. For example, for cleaning a floor, a first attachment may be configured to vacuum the floor and a second attachment may be configured for steam cleaning the floor. The robot may also include a vertically translatable lift mechanism. The lift mechanism may include the attachment retention system, thereby allowing the attachments to be moved vertically. The lift mechanism may also include a dimension sensor proximate a top of the lift mechanism. The dimension sensor may be utilized to determine the size, e.g., a height and/or a width of the robot with any retained attachments, to help navigate the robot and avoid obstacles.

Abstract: A cleaning system can be used on an intermediate bulk container. The cleaning system includes a chemical tank, filled with a chemical liquid. A first chemical pump and a second chemical pump, are mechanically coupled to the chemical tank and configured to pump the contents of the chemical tank. A dispensing valve is mechanically coupled to the first chemical pump and the second chemical pump and configured to dispense the chemical liquid. A water tank, is filled with water. A first water pump and a second water pump are mechanically coupled to the water tank and configured to dispense the water. A topside washing assembly is attached to the chemical tank and mechanically coupled to the first chemical pump and the second chemical pump. The topside washing assembly disperses water from the water tank in order to clean the chemical tank.

Abstract: A chemical liquid treatment apparatus includes processing chambers; a chemical liquid feeding unit configured to cyclically feed a chemical liquid into the processing chambers; and a modifying unit. The modifying unit, when using a chemical liquid in which an effect thereof varies with a chemical liquid discharge time, is configured to calculate a variation of the effect of the chemical liquid based on the chemical liquid discharge time and is configured to modify the chemical liquid discharge time for each of the processing chambers based on the calculated variation of the effect of the chemical liquid and a cumulative time of the chemical liquid discharge time.

Abstract: A dish treating appliance includes a tub having an access opening and at least partially defining a dish treating chamber a rotating spray arm having multiple spray nozzles and a first supply conduit fluidly coupled to the multiple spray nozzles, and a manifold supplying liquid to the first and second supply conduits, wherein the supply of liquid from the manifold to the first supply conduits causes liquid to be emitted from the multiple spray nozzles into the treating chamber.

Abstract: A washing device comprises top, middle, and bottom compartments. The top compartment comprises a manifold dispenser that comprises at least one liquid input and a plurality of liquid outputs that operably direct fluid to contact a plurality of laboratory consumables held by a rack. A number of liquid outputs is equal to a number of laboratory consumables such that each one of the fluid outputs operably directs fluid at a corresponding one of the laboratory consumables. The middle compartment is positioned below the top compartment and comprises a washing chamber capable of receiving fluid output by the plurality of liquid outputs. The washing chamber has a floor comprising a material transparent to ultraviolet light. The bottom compartment is positioned below the washing chamber and has a light source that is capable of outputting UV light in the direction of the washing chamber and through the floor of the washing chamber.

Abstract: A substrate processing apparatus includes: an operation unit, which is provided with a storage unit that stores a plurality of recipes including a recipe for processing a member that constitutes the inside of a reactor in which substrate processing is performed, and a recipe for processing an exhaust pipe through which a gas released from the inside of the reactor flows, the operation unit further being provided with a display unit that displays a setting condition for executing the recipes on an operation screen; and a control unit that executes the recipe that meets the setting condition. The operation unit includes a recipe control unit, which controls, based on the setting condition, execution of the recipe for processing the member constituting the inside of the reactor in which the substrate processing is performed, and the recipe for processing the exhaust pipe, among the recipes stored in the storage unit.

Abstract: A method, system and computer program product for modifying a cleaning routine of a mobile cleaner scans the surface to collect debris data, the debris data including an amount and location of debris on the surface. A profile of the surface is updated with the collected debris data. A profile of the surface is analyzed to identify a debris region on the surface, the debris region including an amount of debris differs from a high threshold. A cleaning routine of the mobile cleaner is modified based on the profile.

Abstract: An operation amount for operating a flow rate control mechanism of a processing liquid can be appropriately adjusted based on a physical property of the processing liquid or a characteristic of a processing liquid supply mechanism while supplying the processing liquid. In a processing liquid supply device that supplies a processing liquid to a substrate, a processing liquid supply mechanism discharges the processing liquid toward the substrate via a flow rate control mechanism which controls the processing liquid based on an operation amount. A flow rate detection unit detects a flow rate of the processing liquid supplied to the substrate. A system identification unit determines a system parameter according to a system model of the processing liquid supply mechanism. A flow rate controller determines a new operation amount of the flow rate control mechanism by using the system parameter.

Abstract: Disclosed is a computer readable recording media recording at least one program. An automatic clean machine control method applied to an automatic clean machine can be performed while the program is executed. The automatic clean machine control method comprises: (a) controlling the automatic clean machine to acquire a map; (b) selecting at least part of the map as a region to be cleaned; and (c) controlling the automatic clean machine to perform a first clean operation to the region to be cleaned.

Abstract: A three-dimensional object manufacturing method includes a 3D object forming step of forming a three-dimensional object by discharging a UV curing type ink, and then carrying out UV irradiation on the discharged ink to form a layer, and overlapping a plurality of the layers (S101); a support material removing step of removing a support material from the three-dimensional object (S102), and a siloxane applying step of applying an organopolysiloxane solution for suppressing whitening of a surface of the three-dimensional object on the surface of the three-dimensional object (S104), where the organopolysiloxane solution is a solution having alcohol for making the support material transparent as a solvent, and having the organopolysiloxane compound for forming a film on the surface of the three-dimensional object by the drying of alcohol as a solute.

Abstract: The aim is to improve detergency, in particular on custard stains, in an essentially solid dishwashing detergent. This is accomplished with an essentially solid dishwashing detergent which comprises a protease which comprises an amino acid sequence which is at least 80% identical to the amino acid sequence given in SEQ ID NO. 1 and which has the amino acid glutamic acid (E) or aspartic acid (D) at position 99 in the count according to SEQ ID NO. 1.

Abstract: The inventive substrate treatment apparatus includes: a rotative treatment control unit which controls a first chemical liquid supplying unit and a second chemical liquid supplying unit to perform a first chemical liquid supplying step of supplying a first chemical liquid to a substrate rotated by a substrate holding and rotating mechanism and a second chemical liquid supplying step of supplying a second chemical liquid to the substrate rotated by the substrate holding and rotating mechanism after the first chemical liquid supplying step; and a cleaning control unit which controls the cleaning liquid supplying unit to spout the cleaning liquid from the cleaning liquid outlet port to supply the cleaning liquid to the cup inner wall and/or the base wall surface before start of the second chemical liquid supplying step after end of the first chemical liquid supplying step, and/or during and/or after the second chemical liquid supplying step.

Abstract: A dishwasher, in particular a household dishwasher, having a wash tub for receiving dishes during a wash cycle, having a dish reception device for receiving the dishes put into the wash tub, and a control device for controlling the course of the wash cycle depending on the received dishes. Thereby, it is provided that the dish reception device has a plurality of evaluation modules, which are designed each for receiving a dish type consisting of a similar material by means of the signals of at least one sensor and/or by means of at least one control parameter of the control device.

Abstract: A method of operating a dishwasher having a wash tub and a reuse tank for storing liquid for subsequent reuse, wherein the condition of the water in the reuse tank may be monitored and/or acted upon to limit the likelihood of undesired effects associated with the growth of micro-organisms in the liquid.

Abstract: A dishwasher has a treating chamber for receiving dishes for treatment according to an automatic cycle of operation and a dispensing system for storing and dispensing a treating chemistry to the treating chamber during the cycle of operation. The dishwasher may dispense a treating chemistry when a temperature of a liquid in the treating chamber satisfies a predetermined temperature threshold. The temperature of the liquid may be maintained to satisfy the predetermined temperature threshold for a predetermined period of time based on the treating chemistry.

Abstract: According to one embodiment, a substrate processing apparatus (1) includes: a support (4) configured to support a substrate (W); a rotation mechanism (5) configured to rotate the support (4) about an axis that crosses the substrate (W) supported by the support (4) as a rotation axis; a nozzle (6) configured to supply a treatment liquid to a surface of the substrate (W) on the support (4) being rotated by the rotation mechanism (5); a heater (8) configured to heat the substrate (W) supported by the support (4) at a distance from the substrate (W); and a movement mechanism (9) configured to move the heater (8) in directions toward and away from the substrate (W) supported by the support (4).

Abstract: A filling machine and a method for intermediate cleaning of a filling machine, where the filling machine comprises a hopper for filling in a pasty substance, a conveying mechanism for conveying the pasty substance in the direction toward an outlet opening. The filling machine comprises at least one spraying device above or within the hopper for distributing the cleaning medium onto the hopper inner wall.

Abstract: The present invention relates to a method of controlling a dispenser for dosing a product in a washing machine leading to an optimized dosing result, a dispenser controller programmed with an algorithm to execute the method of the present invention as well as to the use of said dispenser for controlling dosing of a product in a washing machine.

Abstract: A method for operating a water-conducting domestic appliance, such as a dishwasher, includes filling the water-conducting domestic appliance with a minimum amount of filling water that is circulated by a pump, and checking a water flow diverter for malfunctions and determining from an operational parameter of an electromotor that drives the pump whether the pump runs smoothly, thereby indicating whether the quantity of filling water corresponds to at least a nominal quantity of filling water. When the water flow diverter is not malfunctioning, the pump is again checked for smooth running or a refilling step is carried out to increase the minimum amount of filling water. Conversely, when the water flow diverter is malfunctioning, the check for smooth running or the refilling step are omitted.

Abstract: A wafer holding apparatus for fixing a wafer having a central portion and a circumference portion includes a holding platform, a lift stage, and a fixing device. The holding platform has a hole structure and a support rib protruding inwardly from an inner wall of the hole structure. The lift stage includes a support platform and a driving arm connected to the support platform for driving the support platform to ascend or descend. When the support platform ascends to a support position to support the wafer, the central portion is flat on the support platform to make the circumference portion flat on a top surface of the support rib in a surface contact manner. The fixing device is for fixing the circumference portion to the top surface of the support rib. After the circumference portion is fixed to the support rib, the lift stage descends to a retracted position.

Abstract: A system for the disinfection of rooms and surfaces including at least one plate which can be associated with a room to be treated and equipped with a memory containing a plurality of identification data of the room and at least one diffuser device including a tank containing a liquid solution and nebulising means associated with the tank and designed to draw out the liquid solution from the tank spraying it in the space. The diffuser device includes a control unit associated with the nebulising means and which can be associated with the plate, designed for receiving from the plate a signal representing identification data of the room and designed for controlling the nebulising means as a function of the signal in such a way as to sanitise the room in an automatic manner.

Abstract: A real-time navigating method for mobile robot is provided. The method comprises the following steps of: retrieving a target position at a mobile robot; receiving a position signal from an external beacon device by an ultra-wideband communication module and calculating a current position of the mobile robot; calculating a moving direction according to the target position and the current position; calibrating the moving direction when detecting any obstacle by a laser range sensing module and moving towards the calibrated moving direction for dodging the obstacle; and, repeatedly executing above detection, calibration and movement until arriving the target position. The present disclosed example can effectively prevent the mobile robot from straying into the region without the positioning signal and failure in navigation via detecting the obstacle actively.

Abstract: A system for monitoring cleaning and sanitization efforts of care givers using stethoscopes including one or more sanitizing and cleaning stations capable of cleaning and sanitizing a head portion of a stethoscope presented thereto. The system includes an identification apparatus operably associated with each of a plurality of stethoscopes. The identification apparatus serves to identify a particular stethoscope and, thus, a particular care provider. An apparatus for detecting each time a particular stethoscope is presented to a sanitizing and cleaning station for effecting a cleaning and sanitization event forms part of the system. An analysis unit is operably connected to each identification apparatus and detecting apparatus and is configured for calculating the cleanliness and sanitization level of each stethoscope as a function of the number of cleaning and sanitization events detected by the detecting apparatus.

Abstract: A method for filling a wash tub (12) of a dishwasher (10) with water, wherein the wash tub (12) comprises a water-collecting sump pot (16) that is fixed to an opening in its bottom and said method forms part of a program cycle for the operation of the dishwasher, said method comprising the subsequent steps of: (i) opening a water inlet (13) of the dishwasher and executing a static filling of the wash tub wherein a circulation pump of the dishwasher is kept deactivated, (ii) detecting a predetermined lower water level (22) inside the sump pot (16), and (iii) starting to measure the time for the static filling when said lower water level (22) is detected.

Abstract: Methods and systems relate to generating steam from water that contains dissolved organic compounds. The methods mix a polymerization inhibitor with the water prior to feeding the water into a steam generator. The polymerization inhibitor limits coupling of the dissolved organics under boiler conditions to mitigate fouling issues within the boiler.

Abstract: A washing machine includes an outer tub that is configured to holding water. The washing machine includes an inner tub that is configured to exchange water with the outer tub and that is configured to rotate. The washing machine includes a pulsator that is located in a lower portion of the inner tub and that is configured to rotate. A method to operate the washing machine includes the actions of, each time that a wash cycle runs after a previous self-cleaning course, storing a cumulative number of times the wash cycle has run since the previous self-cleaning course. The actions further include selecting a subsequent self-cleaning course. The actions further include configuring settings of the subsequent self-cleaning course based on the stored cumulative number of times the wash cycle has run since the previous self-cleaning course. The actions further include conducting the subsequent self-cleaning course according to the configured settings.

Abstract: An arrangement for cleaning an end effector (21) carried by a robotic manipulation device (9a, 9b, 9c) includes an end effector cleaning station (18) mounted within a working area of the robotic manipulation device (9a, 9b, 9c), with a spray device (26) configured to provide at least one liquid jet. A control unit (11) is, when it is time to clean the end effector (21), configured to activate the robotic manipulation device (9a, 9b, 9c) such that it moves the end effector (21) downwards from a position above the end effector cleaning station (18) to a position where it is hit by the liquid jet, wherein during this movement the end effector (21) is substantially vertical.

Abstract: The present invention relates to a method of, and a device for, detecting clogging of a dishwasher filter. The device is arranged to drain the dishwasher on process water, measure operating current of a motor driving a dishwasher drain pump and determine whether the dishwasher filter is clogged based on the measured drain pump motor operating current.

Abstract: The present invention relates to a laundry machine having a drying function for drying an object to be dried, especially clothes. In the laundry machine according to one embodiment of the present invention, lint and the like that may be contained in the hot air are removed by the filter, whereby the lint and the like can be prevented from being piled on the duct. Also, the filter is placed in a way that it is exposed into the tub, whereby the filter can be cleaned automatically while it is being driven.

Abstract: A floor treatment machine is disclosed for treating floor surfaces and includes a housing, two drive wheels, at least one support wheel, a drive device, a controller, at least one scan sensor configured to ensure that distance measurements can be carried out in a substantially horizontal plane via a predetermined angular area, and a floor treatment device configured to ensure that the floor can be treated. In at least one embodiment, the controller encompasses a treatment mode, which guarantees a simple and reliable selection of a successful route by way of few driving and storing steps. The boundary of the floor surface is treated as an obstacle. To record the treated surface, starting and end points of route segments, which have been followed, and one of the states “completely treated” or “incompletely treated” for the end points as well as direction information is stored.

Abstract: A substrate processing apparatus according to an embodiment includes: a liquid supplier configured to supply a processing liquid to a surface of a substrate; a temperature detector configured to detect a surface temperature of the substrate supplied with the processing liquid by the liquid supplier; a temperature monitor configured to determine whether or not the surface temperature detected by the temperature detector has reached a predetermined temperature; and a controller configured to cause the liquid supplier to stop supplying the processing liquid when the temperature monitor determines that the surface temperature has reached the predetermined temperature.

Abstract: A dishwasher for treating dishes according to an automatic cycle of operation having a tub that at least partially defines a treating chamber, a slidable dish holder, an electricity-consuming component having a rechargeable battery, and a battery charging system to recharge the rechargeable battery of the electricity-consuming component when the dish holder is in the treating position.

Abstract: A wastewater treatment plant that employs an activated sludge process and a method of operating the same is described. Wastewater influent is provided to a bioreactor configured to perform activated sludge processing to develop mixed liquor suspended solids (MLSS). The MLSS is passed from the bioreactor to a hydrodynamic separator (HDS) system, where separation operations are performed on the MLSS. The separation operations generate a low concentration MLSS stream and a high concentration MLSS stream. The low concentration MLSS stream is passed from the hydrodynamic separator system via a first output to a clarifier, and the high concentration wastewater stream is passed via a second output back to the bioreactor. The clarifier performs clarification operations on the cleaned wastewater stream and then outputs an effluent flow.

Abstract: A cleaning apparatus for a semiconductor substrate includes a belt conveyor, a treatment head that executes cleaning, rinsing and drying treatments, a rinse water supplying mechanism that supplies rinse water adjusted to a predetermined pH value to the treatment head and configured to rinse the substrate applies heat to the rinse water to set a rinse water temperature to 70° or above, and an optical mechanism. The treatment head is configured to rinse the substrate. The optical mechanism is configured to recognize a pattern on the semiconductor substrate so that the semiconductor substrate can be automatically placed on the belt conveyor with a direction of the recognized pattern and a feeding direction of the belt conveyor having a predetermined relationship. The treatment head includes a drying treatment mechanism configured to execute both a drying treatment with use of drying solvent and lamp annealing in execution of drying treatment.

Abstract: Vessels can be become fouled due to normal operation thereof, for example, during lignocellulosic biomass hydrolysis, and the vessel will become inoperable unless the fouling is removed from the vessel. Accordingly, methods are disclosed herein for removing fouling substances from the interior surfaces of fouled pressurized vessels. The methods utilize a brief rapid change of pressure in the vessel. In some embodiments, the rapid pressure change is a decrease, and the rapid pressure change causes, for example, increased velocity of the fluid flowing in the vessel, flashing of a portion of the fluid to vapor, and removal of the fouling substance adhered to the interior surface of the vessel.

Abstract: Liquid stable enzyme compositions and methods of employing the same for cleaning, including warewashing and dishwashing, are disclosed. The stable enzyme compositions preferably employ an amphoteric surfactant stabilizing agent, such as disodium camphodiacetate (CADA), to stabilize a mixture of traditionally unstable enzymes, such as proteases and lipases.

Abstract: A self-contained system is provided for cleaning a food flow path in a food processor. The system can be operably engaged without requiring disassembly and reassembly of the food processor or can be operably engaged after a partial disassembly of the food processor. The system includes a control assembly for directing passage of a solution through the food processor without requiring constant operator oversight. The system can employ available positive pressure water supply, such as public utility water pressure to selectively and automatically push solutions, including rinses, backwards or forwards through a food flow path in the food processor, though typically countercurrent to the normal processing food flow. A manifold assembly includes an intake manifold and a distribution manifold, with an induction port and/or access port in the distribution manifold for introducing additives or agents into a controlled motive stream passing through the manifold assembly.

Abstract: A power supply arrangement for a suction device is provided, which is optionally operable using direct current or alternating current, including a first connection connectible to a direct current source, a second connection connectible to an alternating current source, a third connection connectible to a consuming unit of the suction device, an electrically isolated converter connected on the input side to the first connection, and a switchover device connected to an output of the converter, the second connection and to the consuming unit, wherein the switchover device allows selection of whether the consuming unit is actively connected to the converter or the second connection for power supply, and wherein the switchover device has one or more components each with an electrical safety clearance that is at least 4 mm in respect of the creepage distance and the total of the creepage distances of the components is at least 8 mm.

Abstract: The present invention relates to a washer (100) comprising a body, a door providing access into the body, a liquid detergent tank (3) enabling liquid detergent to be stored and a detergent dosing unit (1) enabling liquid detergent corresponding to an amount estimated for one washing program to be transferred from the liquid detergent tank (3) into a washer (100) during a cycle.

Abstract: A foam/liquid applicator system for an automated carwash has at least one foam generator with a first end, a second end, a first input for receiving air, and a second input for receiving a detergent mixture. The foam generator transforms the air and the detergent mixture into foam. A light chamber is attached to the first end of said foam generator and receives the foam formed in the foam generator, the light chamber has a plurality of openings for dispensing. A light bar is disposed in the light chamber and has a plurality of lights for illuminating the foam as it is expelled via the openings.

Abstract: A dishwasher enabling wash water to be reused, and a method of controlling the same, include a body provided with a washing tub on which dishware is disposed to be washed, a sump unit provided at a lower side of the body, and configured to accommodate wash water and pump the accommodated wash water, a spray nozzle configured to receive the wash water from the sump unit and spray the wash water to the washing tub, a storage tank provided at a lower side of the body and configured to accommodate used wash water which is supplied from the sump unit, a water supply pipe connecting the sump unit to the storage tank, and a pump connected to the water supply pipe and configured to pump the wash water being accommodated in the sump unit to the storage tank.

Abstract: A conveyor dishwasher has at least one wash zone, at least one final rinse zone, and conveyor apparatus. In order to reduce the consumption of disinfection chemical and energy, but to nevertheless maintain a desired final rinse result, the final rinse liquid which is sprayed in the final rinse zone has a metered disinfection chemical, and at least one additional final rinse zone arranged downstream of the final rinse zone provided for spraying fresh water without a disinfection chemical onto the washware to be treated. The at least one additional final rinse zone has an associated collection device for collecting liquid which is sprayed in the additional final rinse zone. Furthermore, a liquid transfer system is provided, it being possible to supply the liquid which is collected in the collection device directly to the wash zone by means of said liquid transfer system.

Abstract: A dishwashing detergent comprising a builder; a surfactant; a first polymer comprising monoethylenically unsaturated C3-C6 carboxylic acid units and C1-C12 alkyl (meth)acrylate units; and a dispersant comprising a second polymer comprising monoethylenically unsaturated C3-C6 carboxylic acid units.